Abstract: A base assist section generates a base assist command so that a steering reaction according to a road surface reaction returns to a steering wheel side. A modifying section generates a torque modifying command for modifying the base assist command so that an unstable movement of a vehicle converges appropriately. A sum of the each command becomes a final assist torque command. The base assist section estimates a road surface force based on the self-generated base assist command and a steering torque actually detected. A target steering torque is generated based on the estimated force, and the base assist command is generated based on a deviation of the target steering torque and the steering torque.

Abstract: An ECU includes two drive circuits corresponding to the motor coils of two systems independent of each other, and a microcomputer that outputs control signals of two independent systems to the drive circuits. The microcomputer includes a first control signal output portion that outputs the control signal to the drive circuit of the first system by executing an electric current control so as to generate a motor torque that corresponds to the assist force. The microcomputer further includes a second control signal output portion that outputs the control signal to the drive circuit of the second system by executing a position control on the basis of a steering angle command value that is input from a superior ECU via an in-vehicle network so as to change the steering angle of the steering road wheels.

Abstract: A movable carriage having front wheels and rear wheels includes, a detection unit detecting a direction caused by the operator pushing or pulling a grip unit, a rear-wheel steering angle changing unit changing a steering angle to cause a phase of the rear wheel to be the same as or opposite to the phase of the front wheel according to whether an angle between the detected direction and a center axis of the movable carriage is a predetermined angle or smaller, and a front-wheel steering angle changing unit changing a steering angle to cause a phase of the front wheel to be the same as or opposite to the detected direction according to whether the detected direction is a direction in which the movable carriage is pushed or pulled, when the angle between the detected direction and the center axis of the carriage exceeds the predetermined angle.

Abstract: A vehicle motion control apparatus which is configured to control a motion of a vehicle comprising a plurality of apparatuses, each of which is configured to selectively control a slip angle or a yaw rate, is provided with: a behavior controlling device which is configured to perform behavior control in which a plurality of apparatuses are controlled such that a slip angle and a yaw rate are a set target slip angle and a target yaw rate, respectively; a turning state quantity specifying device which is configured to specify a turning state quantity of the vehicle; and a selecting device which is configured to select at least one of the slip angle and the yaw rate to be prioritized, on the basis of the specified turning state quantity in a case where the behavior control needs to be performed by one of the plurality of apparatuses.

Abstract: An apparatus (10) is provided for controlling an actuatable restraint (14, 16) in a vehicle (12). An sensor (24) is mounted in the vehicle (12) and outputs an electrical signal having a characteristic indicative of a vehicle event. A discrimination circuit (42) is coupled to the sensor (24) and determines if a predetermined event occurred. A safing circuit (50) is coupled to the sensor (24) signal and sequestered from the discrimination circuit (42) for determining if the predetermined event occurred. An actuation device is actuates the restraint when both the discrimination circuit (42) and the safing circuit (50) determine the predetermined event occurred.

Abstract: In each sensor unit, when a sensor control unit cannot detect current flowing to an output side, its address is set to the same address as a sensor unit of the last stage. In an ECU, if the set address and characteristic information of each sensor unit are not stored in a memory unit when the set addresses and the characteristic information of all the sensor units are received by an ECU control unit, the received set addresses and the characteristic information are stored. A failure check unit checks received characteristic information received by the ECU control unit with characteristic information stored in the memory unit. If one characteristic information is in disagreement, a sensor unit having such characteristic information is determined to be failing. If plural characteristic information are in disagreement, a sensor unit having characteristic information and closest to the ECU is determined to be failing.

Abstract: A system, for inhibiting ice formation on a vehicle surface, and de-icing if determined needed to remove any frozen matter formed on the surface, including an anti-icing reservoir, a fluid-selecting control valve, and code that causes a processor to perform operations including determining whether the vehicle is parked, initiating, if parked, activation of, or obtaining of readouts from, any local sensors or routines to be used to determine whether a condition triggering initiation of an anti-freezing cycle is present. The operations include commencing, if triggered, an anti-icing cycle, including initiating changing of the fluid-selection valve to select the anti-freezing reservoir, and initiating pumping of the anti-icing fluid from the anti-icing reservoir to and through a fluid-dispensing nozzle, and onto the surface for inhibiting bonding of frozen material on the surface and/or remove any already formed frozen material on the surface.

Abstract: Methods and apparatus for automatically adjusting the angle of a rotatable side view mirror of an articulated tractor and trailer includes transducers attached to the tractor for transmitting signals toward the trailer and for receiving signals reflected by the trailer. The transducers have a substantially symmetrical arrangement about a centerline of a linear transducer bar attached to the tractor and each has an angular orientation substantially dissimilar to adjacent transducers on a same side of the centerline. A control circuit sequentially activates ones of the transducers such that only a single transducer transmits signals at any given time. Thereafter, the control circuit only processes reflected signals received by the emitting transducer. The control circuit calculates an angle between the tractor and trailer and causes the mirrors to rotate. Transducer calibration and mirror adjustment relative to a zero position set by a driver are also contemplated.

Abstract: An engine control device for a forklift that suppresses an increase in fuel consumption amount and noise by limiting an engine rotation speed when the forklift is driven without the need to increase the engine speed according to the accelerator operation even when the accelerator is depressed hard. Determining means in a controller determines whether all of the following conditions are satisfied: a neutral position of the traveling direction instructing means; a lift raising switch and first, second and third attachment switches are turned off. When all of the above conditions are satisfied, it is determined whether the forklift is driven in any of a plurality of states. An engine control means generates and outputs a control command to obtain the engine speed based on the accelerator pedal depression with the upper limit value of the engine speed set as an upper limit value of the engine speed.

Abstract: A system for controlling gear changes in a vehicle. The system includes a steering wheel and a detent mechanism having an idle location, a first location, and a second location, the detent mechanism is coupled to the steering wheel. The system also includes a paddle shifter coupled to the steering wheel and the detent mechanism, the paddle shifter having an idle position with no associated function when the paddle shifter is in the idle location, a first operating position with an associated first function when the paddle shifter is in the first location, and a second operating position with an associated second function when the paddle shifter is in the second location. The associated first function is different from the associated second function.

Abstract: A system for activating and deactivating a gear change in a vehicle. The system including a steering wheel, first and second paddle shifters coupled to the steering wheel or column, a switch having an activate state and a deactivate state and coupled to the steering wheel, a center console, an instrument panel, or an integrated display, and a locking mechanism connected to the first and second paddle shifters to inhibit movement or functioning of the first and second paddle shifters when the switch is in the deactivate state and to allow movement or functioning of the first and second paddle shifters when the switch is in the activate state as a stand-alone lock out method or integrated with an electronic lock out method.

Abstract: Method and system providing manual skip-shift for operating the automatic transmission of a vehicle. The method includes accepting the input of gear states by operating a selector mechanism to select a value. The system accepts input of a selected sequence of gear states from a plurality of available gear states, the selected sequence including fewer gear states than the number of available gear states. The system then operates a selector mechanism to select the gear state from the selected sequence. The system also includes an electronic control module, a selector mechanism, and a power train control module.

Abstract: An electronic controller for a variable ratio transmission and an electronically controllable variable ratio transmission including a variator or other CVT are described herein. The electronic controller can be configured to receive input signals indicative of parameters associated with an engine coupled to the transmission. The electronic controller can also receive one or more control inputs. The electronic controller can determine an active range and an active variator mode based on the input signals and control inputs. The electronic controller can control a final drive ratio of the variable ratio transmission by controlling one or more electronic solenoids that control the ratios of one or more portions of the variable ratio transmission.

Abstract: A control device for continuously variable transmission includes an operating state detection means for detecting an operating state of a vehicle including a vehicle speed and an accelerator pedal opening, a control means for controlling a speed ratio of a continuously variable transmission based on the operating state, an acceleration request determination means for determining the presence or absence of an acceleration request of a driver based on the accelerator pedal opening, and a speed ratio setting means for setting a speed reduction ratio controlled by the control means to be smaller with an increase in an acceleration start vehicle speed if the accelerator pedal opening is equal during acceleration. The control means updates the acceleration start vehicle speed to a vehicle speed at the time of a determination after determining that the accelerator pedal opening has been increased during acceleration.

Abstract: A control device of a hybrid vehicle includes an engine and an electric motor, a clutch, and an automatic transmission. The motor is the only drive power source when the clutch is released. The control device is configured such that when a request for increasing drive torque while the motor is running is made, if start control of the engine and downshift control of the automatic transmission overlap, clutch engagement completion is a starting point to start a rotational change of an input rotation speed of the transmission toward a synchronous rotation speed after a shift, and a transmission torque capacity during the downshift control in the transmission until engagement completion of the clutch being set equal to or greater than an input torque of the transmission during the motor running and less than an input torque of the transmission at the time of engagement completion of the clutch.

Abstract: A vehicle includes an engine, an engine control module (ECM), and a dual clutch transmission (DCT) assembly. The DCT assembly has first and second input clutches, first and second gear sets selectively connected to the engine via the respective first and second input clutches, and a transmission control module (TCM). In executing a launch control method, the TCM receives a launch request, receives an actual engine torque, and determines the inertia and acceleration of the engine. The TCM then calculates a clutch torque for the particular input clutch used for vehicle launch as a function of the actual engine torque and the product of the inertia and the acceleration, compares the calculated clutch torque to the commanded clutch torque, modifies a torque-to-position (TTP) table depending on the comparison result, and transmits a clutch position signal to the designated input clutch to command an apply position extracted from the TTP table.

Abstract: A driving force control device for a four-wheel-drive vehicle performs, by controlling the driving force that is allocated to the rear wheels by a front and rear torque allocation clutch that is arranged between a propeller shaft and a rear diff, the control of setting front wheels as primary drive wheels and rear wheels as auxiliary drive wheels. A control is performed to disable the allocation of driving force to the rear wheels by disengaging the front and rear torque allocation clutch, when the state that the difference in wheel speed between the left and right rear wheels is equal to or more than 80 km continues for 0.1 sec or longer in the state that the vehicle body speed is equal to or less than 120 km.

Abstract: A method is provided for controlling a brake system of a motor vehicle having a brake device (40) with a hydraulic brake unit (41) and a recuperation brake unit (42). The method includes calculating (S1) a hydraulic brake force characteristic curve (B2) of the hydraulic brake unit (41) on the basis of at least one detected characteristic of the brake system, selecting (S2) a generator-based brake force characteristic curve (G1-G4) of the recuperation brake unit (42) on the basis of a predefined criterion and as a function of the calculated hydraulic brake force characteristic curve (B2), and controlling (S3) the hydraulic brake unit (41) and the recuperation brake unit (42) in accordance with a detected degree of actuation of the brake pedal (10), the calculated hydraulic brake force characteristic curves (B2), and the selected generator-based brake force characteristic curve (G1-G4).

Abstract: Disclosed is a vehicle speed control apparatus including: a speed limit information recognition unit recognizing a location and a speed limit of a speed limit point located in front of a vehicle; a storage unit stored with deceleration characteristic values including at least one driving characteristic; a deceleration characteristic select unit selecting the deceleration characteristic values corresponding to the location and the speed limit of the recognized speed limit point among the deceleration characteristic values stored in the storage unit; and a targeted acceleration calculation unit calculating a targeted acceleration necessary for a vehicle speed control up to the speed limit point based on the selected deceleration characteristic values. By this configuration, it is possible to precisely control the vehicle speed up to the speed limit point at an optimal speed.

Abstract: A method for operating a parking brake having an electromechanical braking device, which includes an electric brake motor, the electromechanical braking device being re-applied in order to generate a clamping force again in the case of a fault of the release process of the electromotive braking device.

Abstract: A brake control method. During ABS control, a control sequence, other than the conventional control sequence, based on the slip ratio and so forth resulting from the measurement value of a wheel speed sensor, and a minimum amount of pressure increase or a minimum amount of pressure decrease is ensured. In another embodiment, a control sequence independent from a control sequence based on the measurement value of a wheel speed sensor, sets allowable ranges relating to amounts of change in the pressure of a wheel cylinder, monitors the actual pressure value with a pressure sensor at the time of brake control, and, at a time when the pressure inside the wheel cylinder has deviated from these allowable ranges, drives an actuator such as an electromagnetic valve and controls in such a way that the pressure inside the wheel cylinder falls within an allowable range.

Abstract: Provided is a cruise control system and method. A vehicle cruise control system collects state information of components inside and outside a vehicle, state information of a road on which the vehicle is provided, and drive pattern information of a driver of the vehicle, analyzes a mileage amount and an exhaust gas emission amount of the vehicle based on the collected state information of the components, the road state information, and the drive pattern information, calculates a cruise control speed based on the analysis result, and controls the vehicle to run at the cruise control speed.

Abstract: An anticipatory cruise control configured to automatically adjust travel speed responsively to upcoming changes in road conditions in a safe and comfortable manner.

Abstract: Vehicle control includes: acquiring running information of a preceding vehicle that runs ahead of a host vehicle; controlling a running state of the host vehicle on the basis of the acquired running information; acquiring deceleration jerk information of the preceding vehicle; and changing a deceleration start timing, at which the host vehicle is decelerated in response to deceleration of the preceding vehicle, on the basis of the deceleration jerk information of the preceding vehicle. Alternatively, vehicle control includes: acquiring deceleration jerk information of a preceding vehicle that runs ahead of a host vehicle; and changing an inter-vehicle time or inter-vehicle distance between the preceding vehicle and the host vehicle on the basis of the deceleration jerk information of the preceding vehicle.

Abstract: A first travel controller of a control device for a vehicle sets a first target drive force based on preceding vehicle information to control a power source when a follow-up system is in an active state. A second travel controller sets a second target drive force based on a driver's operation to control the power source when the follow-up system is in an inactive state. A third travel controller sets a third target drive force that changes from the first target drive force toward to the second target drive force to control the power source when the follow-up system is switched from the active state to the inactive state. The third travel controller makes a difference between a change rate of the third target drive force set after the cancel operation and a change rate of the third target drive force set after the brake operation.

Abstract: When a stereo image recognition device detects a vehicle ahead, a driving support apparatus extracts the vehicle ahead as a vehicle against which control should be performed, and performs driving support control based upon the information from the stereo image recognition device. When the stereo image recognition device does not detect the vehicle ahead, the driving support apparatus sets either one of the distance from the driving lane on which the vehicle travels and a start point of a curve ahead according to the configuration of the road ahead and a detection limit distance of the information of the vehicle ahead by the stereo image recognition device (front recognition device) as a threshold value IVC_L. When the vehicle ahead is present distant by more than the threshold value IVC_L, the driving support apparatus performs driving support control based upon the information by the inter-vehicle communication from a communication device.

Abstract: A gas turbine engine control apparatus comprises a controller 34, a memory 36 associated with the controller 34 and inputs 38 for measurement data from an engine. The controller 34 determines the start of a monitoring cycle at 73, receives measurement data at the inputs 38 during the monitoring cycle, manipulates the measurement data to provide an incremental deterioration value representing deterioration occurring within the engine and during the monitoring cycle, and uses the incremental deterioration value at 72 to update a deterioration value 74 stored in the memory 36, and determines the start of a further monitoring cycle.

Abstract: In a control device for an internal combustion engine, which includes control unit that has a processor with a plurality of cores and that computes various tasks associated with operation of the internal combustion engine, the control unit includes a selecting unit, that selects at least one core used in the computation from among the plurality of cores, a computing unit that distributes the tasks to the at least one core selected by the selecting unit to perform computation, and an acquisition unit that acquires an engine, rotational speed of the internal combustion engine, and, when the engine rotational speed acquired by the acquisition unit is higher than or equal to a predetermined threshold, the selecting unit increases the number of the cores selected as compared with when the acquired engine rotational speed is lower than the predetermined threshold.

Abstract: A method and system are provided for optimizing fuel delivery to an internal combustion engine. The method and system have particular applicability to an engine having a base or OEM engine control unit (ECU) which outputs fuel injector control signals. In accordance with the method, when the engine is operating in one or more modes, such as a Power Mode, the amount of fuel delivered to the engine is modified, such as by changing the duration of the fuel injector control signals with a secondary ECU. The control signals are modified based on engine speed, and thus in direct relation to engine performance.

Abstract: In a method for operating a fuel injector, a transition range of the characteristics curve of the injector is detected individually and adapted continuously, so that a monotonous characteristics curve is formed, with whose aid high metering precision of the injector is achieved.

Abstract: A method of decreasing the light-off time of a catalytic exhaust aftertreatment device, using exhaust gas recirculation (EGR) in a turbocharged internal combustion engine. The engine has at least one “dedicated EGR cylinder”, whose entire exhaust is recirculated back to all the engine cylinders. The dedicated EGR cylinder(s) may be operated to produce a differently compositioned exhaust gas than the other cylinders. During light-off, EGR gas is optimized for heat, diverted from the EGR loop and routed to a point directly upstream the aftertreatment device.

Abstract: The present disclosure provides a method to operate an internal combustion engine comprising storing a fueling command map having fueling index values, each of the fueling index values defining values for a plurality of fueling parameters, and a plurality of predetermined non-linear relationships that directly relate fueling index values to in-cylinder oxygen mass values; determining a temporary fueling index value; determining an in-cylinder oxygen mass value; identifying a predetermined relationship that directly relates fueling index values to in-cylinder oxygen mass values from the plurality of predetermined relationships to provide an identified predetermined relationship; determining that a current relationship of the temporary fueling index value to the calculated oxygen mass value differs from the identified predetermined relationship; and adjusting the temporary fueling index value using at least one fueling correction model to provide a revised fueling index value that approaches the identified pred

Abstract: A vehicle control system includes an alternator configured to generate power by driven by torque transmitted from an engine as a power source of a vehicle and capable of adjusting a power generation amount, wherein the power generation amount of the alternator is controlled based on physical amounts which change in accordance with an accelerator operation of a driver while a fuel cut control, which stops a supply of a fuel to the engine, is being performed during traveling.

Abstract: An automotive electrical system for a motor vehicle comprising an internal combustion engine, the automotive electrical system comprising a main electrical power source, a secondary electrical power source, safety critical electrical loads and non-safety critical electrical loads, and an electrical switching device arranged between the main and secondary electrical power sources and at least the safety critical electrical loads and configured to selectively connect at least the safety critical electrical loads to at least one of the main and secondary electrical power sources. The electrical switching device is configured to connect at least the safety critical electrical loads to the auxiliary electrical power source during the cranking of the internal combustion engine and/or when the motor vehicle is coasting with the internal combustion engine off and the main electrical power source is faulty.

Abstract: A system for detecting malfunction of a variable valve lift apparatus may include an engine provided with the variable valve lift apparatus controlling lift of a valve, a vibration sensor which detects vibrations generated in closing of the valve and outputs corresponding vibration signals, and a control portion which receives the vibration signals and determines the malfunction of the variable valve lift apparatus according to the vibration signals to be detected within a predetermined crank angle.

Abstract: A system and method for providing a suggested modification to road characteristics is provided. Signals indicating locations of several users are received at different points in time. A flow of traffic corresponding to the several users is determined based on an analysis of the locations of the several users at the different points in time. A high traffic area is identified in the determined flow of traffic by comparing the determined flow of traffic with a predetermined baseline flow of traffic. Road characteristics in the identified high traffic area are analyzed and a suggested modification to at least one of the road characteristics based on the analyzing of the road characteristics is provided.

Abstract: Computer program products, methods, systems, apparatus, and computing entities are provided for forecasting travel delays corresponding to streets, street segments, geographic areas, geofenced areas, and/or user-specified criteria. And from the forecasted travel delays, speed and travel times that take into account such travel delays can be determined.

Abstract: Systems, methods, apparatus, and computer program products are provided for automated data collection using geofence-based triggers. In one embodiment, the location of a vehicle can be monitored by a variety of computing entities. By using the vehicle's location, it can be determined when the vehicle enters and/or exits defined geofences. After a determination that a vehicle has entered or exited a defined geofence, one or more events can be automatically triggered/initiated.

Abstract: A scoring device for evaluating the efficiency of a route travelled with a vehicle, an efficiency evaluation method and a system. Acceleration sensors are formed in a mobile telecommunications device in order to obtain position and acceleration data which are supplied to the scoring device via an interface in order to calculate a vehicle model with set parameters from the sensor data. The vehicle model serves to calculate efficiency values for the route travelled which are compared for similarity to reference efficiency values and are incorporated in a graphical depiction of the route travelled.

Abstract: A positioning system is configured such that an in-vehicle device includes an in-vehicle-side positioning unit that obtains in-vehicle-side positioning data that includes in-vehicle-side positioning coordinates representing positioned coordinates and a transmitting unit that transmits the in-vehicle-side positioning data obtained by the in-vehicle-side positioning unit to a portable terminal device. In addition, the portable terminal device includes a portable-side positioning unit that obtains portable-side positioning data that includes portable-side positioning coordinates representing positioned coordinates, a selecting unit that selects the in-vehicle-side positioning unit and/or the portable-side positioning unit based on a positioning environment, and a vehicle-position calculating unit that calculates a vehicle position based on positioning coordinates of a positioning unit selected by the selecting unit.

Abstract: An apparatus and method generating a grid map are provided. The grid map generating apparatus generates a grid map while turning 360 degrees at a dynamically adjustable rotational velocity. The dynamically adjustable rotational velocity allows grid points to have equal intervals on the grid map. The grid map generating apparatus generates a grid map while making a complete turn, and generates a grid map corresponding to a non-linear section while making another turn.

Abstract: A method for determining a slack condition of a vehicle system includes determining when each of first and second vehicles reaches a designated location along a route. The method also includes communicating a response message from the second vehicle to the first vehicle responsive to the second vehicle reaching the designated location, calculating a separation distance between the first vehicle and the second vehicle based on a time delay between a first time when the first vehicle reached the designated location and a second time when the second vehicle reached the designated location, and determining a slack condition of the vehicle system based on the separation distance. The slack condition is representative of an amount of slack in the vehicle system between the first and second vehicles.

Abstract: An inter-vehicle distance maintenance supporting system for a host vehicle can include an obstacle detector that detects the obstacle present ahead of the host vehicle, an inter-vehicle distance detector that detects the inter-vehicle distance between the host vehicle and the obstacle, a confidence factor computing device that computes the confidence factor for taking the obstacle as a preceding vehicle ahead of the host vehicle based on the state of the obstacle detected by the obstacle detector, a confidence factor correcting part that corrects the confidence factor based on the relative-position relationship between the host vehicle and the obstacle, and a reaction force controller that applies a reaction force on the accelerator pedal based on the inter-vehicle distance and the confidence factor.

Abstract: Vehicle range projection is implemented by a host system having logic executable thereon. The logic identifies a starting location of a vehicle and identifies destination locations for the vehicle. The logic also builds routes from the starting location to the destination locations based on routing objectives and travel constraints. The logic further outputs at least a portion of at least one route and travel cost information associated with the at least a portion of at least one route.

Abstract: A navigational system generates audio cues that are perceived in a three-dimensional space, allowing users to aurally perceive the locations of mapped objects such as landmarks. The audio cues can be produced alone, or in some applications, produced in conjunction with a visual navigational map display to improve the overall efficacy of the system. The audio navigation system includes a positioning system to determine the location of a user, a memory to store hierarchically-organized information about one or more objects, and a processor to render an audio signal based on the hierarchically-organized information. The audio signal is rendered into an audio space corresponding to the user, so as to allow user perception of the location of at least one of the objects relative to the location of the user. The objects may be landmarks in the vicinity of the user.

Abstract: Provided are a system and method for a safe taxi service. The method for a safe taxi service in a mobile device includes: transmitting input information regarding a destination to a vehicle information system; periodically receiving information regarding a current location of a vehicle from the vehicle information system; comparing the current location with an expected path to the destination; and transmitting state information to an external system when it is determined, according to the comparing, that the current location deviates from the expected path to the destination to an extent equal to or greater than a predetermined limit.

Abstract: A noise pattern acquisition device includes: a geomagnetic sensor; a coordinate estimation unit configured to estimate current position coordinates; and a geomagnetic noise pattern management unit configured to, when an abnormality occurs in a magnetic field strength detected by the geomagnetic sensor during movement of the noise pattern acquisition device, store in a geomagnetic noise pattern storage unit a geomagnetic noise pattern which is a pattern representing a time-series change of the magnetic field strength detected by the geomagnetic sensor. This makes it possible to not only acquire a geomagnetic noise pattern but also detect a proper position with a simple structure and process at reduced cost.

Abstract: A software product for easy-to-use naming, coding, and sharing of locations, including those with no addresses.

Abstract: Validating a segment is disclosed, including: determining that a stored segment meets a validation criterion; and adjusting GPS data associated with the stored segment using aggregated GPS data.

Abstract: A location of a mobile device in a venue can be estimated by using a state space estimator to determine candidate locations of the mobile device at a first time point based on previous candidate positions conditioned upon an observation of one or more environmental variables. A second observation is received at a second time point, and the state space estimator performs a propagation step to determine the candidate locations at the second time point based on the candidate locations at the first time point and the second observation. The propagation step includes a plurality of sub-propagation steps in which a time length between the sub-propagation steps is a fraction of the time length between the first and second time points, and at each sub-propagation step each candidate location is propagated according to a stochastic process. The location of the mobile device at the second time point is determined based on the candidate locations at the second time point.